The talks between President Kenyatta and Mr Odinga were the culmination of other failed attempts to get the two to directly engage.

"Regrettably, we have responded to our challenges by mostly running away from them", said Odinga, who spoke first.

The announcement came shortly before the arrival of US Secretary of State Rex Tillerson in Kenya.

He said the United States was also eager to engage Kenya in "The Big Four" to assist in its delivery, especially on relevant investments.

"The meeting must have been come out of pressure from the US secretary of state", Andati said.

The Big Four agenda include increasing manufacturing contribution to the economy from 9 percent to 15 percent, achieving universal access to health insurance, achieving food security status and building 500,000 new homes.

He added that the U.S. looked forward to seeing the successful implementation of the Continental Free Trade Area (CFTA) because it offers a big market in which the USA wants to engage.

He also recognised the 4,000 Kenyan troops fighting al-Shabaab in Somalia as part of the African Union peacekeeping mission AMISOM.

His planned schedule on Saturday had included a visit to a US-funded HIV/AIDS programme and attendance at a ceremony marking 20 years since Al-Qaeda bombed the USA embassies in Kenya and Tanzania, killing 224 people.

The leaders said they had agreed to set up an office staffed by advisers to tackle issues ranging from opposition complaints over the election to tensions between ethnic groups and corruption.

The leader of the Amani National Congress, an affiliate party of the NASA coalition, said the opposition coalition would not abandon its push for electoral justice and reforms in the country despite the truce by Uhuru and Raila.

Mr Odinga's and Mr Kenyatta's fathers were allies in the struggle for Kenya's independence from British colonial rule and then became adversaries.

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